Adaptive Sliding Mode Control of Mobile Robot and Comparison with PID Controller

Ayyıldız M., Tilki U.

2nd International Symposium on Applied Sciences and Engineering, Erzurum, Türkiye, 7 - 09 Nisan 2021, ss.494-498

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Erzurum
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.494-498
  • Akdeniz Üniversitesi Adresli: Evet

Özet

Abstract— Mobile robots with adaptive fault tolerant control are distinguished from other mobile robots with the features of detecting and identifying errors. These mobile robots are able to continue to work as desired after a fault occurs in the overall system. This kind of control system can be implemented with different controller structures. In this study, to reduce the mobile robot tracking error, an adaptive sliding mode controller and PID controller are used as the controller system which applied to a nonlinear mobile robot model in the presence of disturbance. Moreover, these two systems have been compared and results are demonstrated in this work. Keywords—Adaptive fault tolerant control, Dynamic control, Kinematic control, Adaptive sliding mode control, PID control, Trajectory tracking